Sequences messages based on the timestamp of their header. More...

#include <time_sequencer.h>

Inheritance diagram for message_filters::TimeSequencer< M >:

Classes
class	MessageSort

Public Types
typedef ros::MessageEvent< M const >	EventType

typedef boost::shared_ptr< M const >	MConstPtr

Public Types inherited from message_filters::SimpleFilter< M >
typedef boost::function< void(const MConstPtr &)>	Callback

typedef boost::function< void(const EventType &)>	EventCallback

typedef ros::MessageEvent< M const >	EventType

typedef boost::shared_ptr< M const >	MConstPtr

Public Member Functions
void	add (const EventType &evt)

void	add (const MConstPtr &msg)
	Manually add a message to the cache. More...

template<class F >
void	connectInput (F &f)
	Connect this filter's input to another filter's output. More...

template<class F >
	TimeSequencer (F &f, ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle())
	Constructor. More...

	TimeSequencer (ros::Duration delay, ros::Duration update_rate, uint32_t queue_size, ros::NodeHandle nh=ros::NodeHandle())
	Constructor. More...

	~TimeSequencer ()

Public Member Functions inherited from message_filters::SimpleFilter< M >
const std::string &	getName ()
	Get the name of this filter. For debugging use. More...

template<typename P >
Connection	registerCallback (const boost::function< void(P)> &callback)
	Register a callback to be called when this filter has passed. More...

template<typename C >
Connection	registerCallback (const C &callback)
	Register a callback to be called when this filter has passed. More...

template<typename P >
Connection	registerCallback (void(*callback)(P))
	Register a callback to be called when this filter has passed. More...

template<typename T , typename P >
Connection	registerCallback (void(T::callback)(P), T t)
	Register a callback to be called when this filter has passed. More...

void	setName (const std::string &name)
	Set the name of this filter. For debugging use. More...

Private Types
typedef std::multiset< EventType, MessageSort >	S_Message

typedef std::vector< EventType >	V_Message

Private Member Functions
void	cb (const EventType &evt)

void	dispatch ()

void	init ()

void	update (const ros::SteadyTimerEvent &)

Private Attributes
ros::Duration	delay_

Connection	incoming_connection_

ros::Time	last_time_

S_Message	messages_

boost::mutex	messages_mutex_

ros::NodeHandle	nh_

uint32_t	queue_size_

ros::Duration	update_rate_

ros::SteadyTimer	update_timer_

Additional Inherited Members
Protected Member Functions inherited from message_filters::SimpleFilter< M >
void	signalMessage (const MConstPtr &msg)
	Call all registered callbacks, passing them the specified message. More...

void	signalMessage (const ros::MessageEvent< M const > &event)
	Call all registered callbacks, passing them the specified message. More...

Detailed Description

template<class M>
class message_filters::TimeSequencer< M >

Sequences messages based on the timestamp of their header.

The TimeSequencer object is templated on the type of message being sequenced.

BEHAVIOR

At construction, the TimeSequencer takes a ros::Duration "delay" which specifies how long to queue up messages to provide a time sequencing over them. As messages arrive they are sorted according to their time stamps. A callback for a message is never invoked until the messages' time stamp is out of date by at least delay. However, for all messages which are out of date by at least delay, their callback are invoked and guaranteed to be in temporal order. If a message arrives from a time prior to a message which has already had its callback invoked, it is thrown away.

CONNECTIONS

TimeSequencer's input and output connections are both of the same signature as roscpp subscription callbacks, ie.

void callback(const boost::shared_ptr<M const>&);

Definition at line 107 of file time_sequencer.h.

Member Typedef Documentation

◆ EventType

template<class M >

typedef ros::MessageEvent<M const> message_filters::TimeSequencer< M >::EventType

Definition at line 111 of file time_sequencer.h.

◆ MConstPtr

template<class M >

typedef boost::shared_ptr<M const> message_filters::TimeSequencer< M >::MConstPtr

Definition at line 110 of file time_sequencer.h.

◆ S_Message

template<class M >

typedef std::multiset<EventType, MessageSort> message_filters::TimeSequencer< M >::S_Message

private

Definition at line 204 of file time_sequencer.h.

◆ V_Message

template<class M >

typedef std::vector<EventType> message_filters::TimeSequencer< M >::V_Message

private

Definition at line 205 of file time_sequencer.h.

Constructor & Destructor Documentation

◆ TimeSequencer() [1/2]

template<class M >

template<class F >

message_filters::TimeSequencer< M >::TimeSequencer	(	F &	f,
		ros::Duration	delay,
		ros::Duration	update_rate,
		uint32_t	queue_size,
		ros::NodeHandle	nh = `ros::NodeHandle()`
	)

inline

Constructor.

Parameters

f	A filter to connect this sequencer's input to
delay	The minimum time to hold a message before passing it through.
update_rate	The rate at which to check for messages which have passed "delay"
queue_size	The number of messages to store
nh	(optional) The NodeHandle to use to create the ros::SteadyTimer that runs at update_rate

Definition at line 122 of file time_sequencer.h.

◆ TimeSequencer() [2/2]

template<class M >

message_filters::TimeSequencer< M >::TimeSequencer	(	ros::Duration	delay,
		ros::Duration	update_rate,
		uint32_t	queue_size,
		ros::NodeHandle	nh = `ros::NodeHandle()`
	)

inline

Constructor.

This version of the constructor does not take a filter immediately. You can connect to a filter later with the connectInput() function

Parameters

delay	The minimum time to hold a message before passing it through.
update_rate	The rate at which to check for messages which have passed "delay"
queue_size	The number of messages to store
nh	(optional) The NodeHandle to use to create the ros::SteadyTimer that runs at update_rate

Definition at line 142 of file time_sequencer.h.

◆ ~TimeSequencer()

template<class M >

message_filters::TimeSequencer< M >::~TimeSequencer ( )

inline

Definition at line 161 of file time_sequencer.h.

Member Function Documentation

◆ add() [1/2]

template<class M >

void message_filters::TimeSequencer< M >::add ( const EventType & evt )

inline

Definition at line 167 of file time_sequencer.h.

◆ add() [2/2]

template<class M >

void message_filters::TimeSequencer< M >::add ( const MConstPtr & msg )

inline

Manually add a message to the cache.

Definition at line 188 of file time_sequencer.h.

◆ cb()

template<class M >

void message_filters::TimeSequencer< M >::cb ( const EventType & evt )

inlineprivate

Definition at line 207 of file time_sequencer.h.

◆ connectInput()

template<class M >

template<class F >

void message_filters::TimeSequencer< M >::connectInput ( F & f )

inline

Connect this filter's input to another filter's output.

Definition at line 155 of file time_sequencer.h.

◆ dispatch()

template<class M >

void message_filters::TimeSequencer< M >::dispatch ( )

inlineprivate

Definition at line 212 of file time_sequencer.h.

◆ init()

template<class M >

void message_filters::TimeSequencer< M >::init ( )

inlineprivate

Definition at line 253 of file time_sequencer.h.

◆ update()

template<class M >

void message_filters::TimeSequencer< M >::update ( const ros::SteadyTimerEvent & )

inlineprivate

Definition at line 248 of file time_sequencer.h.

Member Data Documentation

◆ delay_

template<class M >

ros::Duration message_filters::TimeSequencer< M >::delay_

private

Definition at line 258 of file time_sequencer.h.

◆ incoming_connection_

template<class M >

Connection message_filters::TimeSequencer< M >::incoming_connection_

private

Definition at line 265 of file time_sequencer.h.

◆ last_time_

template<class M >

ros::Time message_filters::TimeSequencer< M >::last_time_

private

Definition at line 270 of file time_sequencer.h.

◆ messages_

template<class M >

S_Message message_filters::TimeSequencer< M >::messages_

private

Definition at line 268 of file time_sequencer.h.

◆ messages_mutex_

template<class M >

boost::mutex message_filters::TimeSequencer< M >::messages_mutex_

private

Definition at line 269 of file time_sequencer.h.

◆ nh_

template<class M >

ros::NodeHandle message_filters::TimeSequencer< M >::nh_

private

Definition at line 261 of file time_sequencer.h.

◆ queue_size_

template<class M >

uint32_t message_filters::TimeSequencer< M >::queue_size_

private

Definition at line 260 of file time_sequencer.h.

◆ update_rate_

template<class M >

ros::Duration message_filters::TimeSequencer< M >::update_rate_

private

Definition at line 259 of file time_sequencer.h.

◆ update_timer_

template<class M >

ros::SteadyTimer message_filters::TimeSequencer< M >::update_timer_

private

Definition at line 263 of file time_sequencer.h.

The documentation for this class was generated from the following file:

time_sequencer.h

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

template<class M> class message_filters::TimeSequencer< M >

BEHAVIOR

CONNECTIONS

Member Typedef Documentation

◆ EventType

◆ MConstPtr

◆ S_Message

◆ V_Message

Constructor & Destructor Documentation

◆ TimeSequencer() [1/2]

◆ TimeSequencer() [2/2]

◆ ~TimeSequencer()

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ cb()

◆ connectInput()

◆ dispatch()

◆ init()

◆ update()

Member Data Documentation

◆ delay_

◆ incoming_connection_

◆ last_time_

◆ messages_

◆ messages_mutex_

◆ nh_

◆ queue_size_

◆ update_rate_

◆ update_timer_

template<class M>
class message_filters::TimeSequencer< M >